ROS2 RVIZ2
Table of Content
RVIZ#
Run from cli#
rviz -d <path to config file>
Run from launch#
Note
Rviz conifg file locate at package config folder
don’t forget to include config folder in setup data_files argument
data_files=[
(os.path.join('share', package_name, "config"), glob('config/*.rviz'))
]
Launch#
launch.py
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from pathlib import Path
def generate_launch_description():
use_sim_time = LaunchConfiguration("use_sim_time")
use_sim_time_arg = DeclareLaunchArgument(
"use_sim_time", default_value="false", description="Use sim time if true"
)
# Process the URDF file
pkg_description = get_package_share_directory("bot_description")
rviz_config = Path(pkg_description).joinpath("config", "rviz.rviz").as_posix()
rviz = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', rviz_config],
parameters=[{'use_sim_time': use_sim_time}]
)
return LaunchDescription(
[
use_sim_time_arg,
rviz
]
)